\begin{tabular}{c | c | c | c | c | c}
{\bf Benchmark} & {\bf MaxF} & {\bf AP} & {\bf PRE} & {\bf REC} & {\bf FPR} & {\bf FNR}\\ \hline
UM\_ROAD & 93.54 \% & 92.64 \% & 93.65 \% & 93.44 \% & 2.89 \% & 6.56 \%\\
UMM\_ROAD & 95.88 \% & 95.46 \% & 96.37 \% & 95.40 \% & 3.95 \% & 4.60 \%\\
UU\_ROAD & 92.95 \% & 91.93 \% & 93.32 \% & 92.58 \% & 2.16 \% & 7.42 \%\\
URBAN\_ROAD & 94.44 \% & 93.45 \% & 94.69 \% & 94.18 \% & 2.91 \% & 5.82 \%\\
UM\_LANE & 91.47 \% & 91.01 \% & 91.78 \% & 91.17 \% & 1.44 \% & 8.83 \%
\end{tabular}